Flowchart programming for industrial controllers, in particular motion controllers

Abstract

A method and a device for graphical programming of industrial controllers, in particular motion controllers where a user is supported with regard to programmable controller functionality as well as with regard to motion functionality. A structured textual language is generated from graphical motion control flowcharts and converted in a processor-independent pseudo-code. Only the latter is loaded into the controller and converted to executable code.

1. A method for programming an industrial controller, the method comprising the steps of:
 a) creating a flowchart, including a plurality of commands with the use of a graphical editor;  
 wherein programming language commands are made available to the user in the graphical editor and wherein the programming language commands are adapted to given hardware specifications;  
 b) generating a textual language based on the flowchart;  
 c) converting such textual language into a processor-independent pseudo-code;  
 d) loading the processor-independent pseudo-code into the controller; and  
 e) converting the processor-independent pseudo-code into an executable processor code.  
 
   
   
     2. The method according to  claim 1 , wherein the programming language commands comprise function blocks and graphical elements. 
   
   
     3. The method according to  claim 2 , wherein the graphical elements comprising function interfaces of corresponding subprograms are generated in flowchart notation from user-defined subprograms of the textual language. 
   
   
     4. The method according to  claim 2 , wherein the graphical elements comprise language elements for forming the flowchart. 
   
   
     5. The method according to  claim 2 , wherein parameters for the function blocks are set via a mask input. 
   
   
     6. The method according to  claim 2 , wherein function blocks are combined into modules that are represented as function blocks in flowchart notation. 
   
   
     7. The method according to  claim 6 , wherein interleaved modules are provided in flowchart notation. 
   
   
     8. The method according to  claim 2 , wherein a plurality of variable assignments are supported for variables in the function blocks represented in flowchart notation. 
   
   
     9. The method according to  claim 2 , wherein function blocks representing functions requiring a given period of time comprise step-enabling conditions in flowchart notation. 
   
   
     10. The method according to  claim 2 , wherein graphical elements of the flowchart are automatically positioned. 
   
   
     11. The method according to  claim 2 , wherein graphical elements of the flowchart are automatically linked together. 
   
   
     12. The method according to  claim 1 , wherein the textual language comprises structured text according to IEC 6-1131. 
   
   
     13. The method according to  claim 12 , wherein a user can switch between structured textual language, contact plan and function plan as forms of representation for formulating conditions. 
   
   
     14. The method according to  claim 1 , wherein the flowchart notation comprises at least one of the group consisting of loop and parallel branch language elements. 
   
   
     15. The method according to  claim 14 , wherein the controller executes interpolation cycles and individual commands are initiated in a given interpolator cycle within a respective parallel branch. 
   
   
     16. The method according to  claim 1 , wherein the flowchart is adopted to be displayed in a form selected from the group consisting of an enlarged form and a reduced form. 
   
   
     17. The method according to  claim 1 , wherein the textual language comprises notation facilitating its re-transaction to flowchart notation. 
   
   
     18. The method according to  claim 1 , wherein the textual language comprises a structured textual language. 
   
   
     19. A device for programming an industrial control system, wherein control structures and function blocks are linkable by a user by via a graphical editor to form a motion control flowchart that can be visualized on a display device, the device comprising:
 a) means for generating a textual language from the flowchart;  
 b) means for compiling the textual language in a processor-independent pseudo-code;  
 c) means for loading the processor-independent pseudo-code into the controller; and  
 d) means for converting the processor-independent pseudo-code into executable processor code, wherein  
 
     programming language commands are made available to the user in the graphical editor, and wherein the programming language commands are adapted to to given hardware specifications. 
   
   
     20. The device according to  claim 19 , wherein appropriate graphical elements comprising function interfaces of respective subprograms are generated in motion control flowchart notation based on user-defined subprograms in textual language. 
   
   
     21. The device according to  claim 20 , wherein the graphical elements in motion control flowchart notation comprise at least one of the group consisting of a loop and a parallel branch. 
   
   
     22. The device according to  claim 21 , wherein the controller executes interpolation cycles and individual commands are initiated in a given interpolator cycle within the respective parallel branch. 
   
   
     23. The device for programming according to  claim 20 , wherein parameters for the function blocks are set via mask input. 
   
   
     24. The device according to  claim 20 , wherein a plurality of function blocks are combined into a module that is represented as a function block in motion control flowchart notation. 
   
   
     25. The device according to  claim 24 , wherein interleaved modules are provided in motion control flowchart notation. 
   
   
     26. The device for programming according to  claim 20 , wherein a plurality of variable assignments is supported for variables in the function blocks represented in flowchart notation. 
   
   
     27. The device according to  claim 20 , wherein step-enabling conditions are provided in motion control flowchart notation for function blocks representing functions requiring a period of time. 
   
   
     28. The device according to  claim 20 , wherein graphic elements of the motion control flowchart are adapted to be automatically positioned. 
   
   
     29. The device according to  claim 20 , wherein graphic elements of the motion control flowchart are adapted to be automatically linked together. 
   
   
     30. The device for programming according to  claim 20 , wherein the motion control flowchart is adapted to be presented on the display in a form comprising one of the group consisting of an enlarged form and a reduced form visualized in a reduced or an enlarged form in the display. 
   
   
     31. The device for programming according to  claim 20 , wherein the textual language comprising notation facilitating its re-translation to flowchart notation. 
   
   
     32. The device according to  claim 19 , wherein automatically generated graphical elements are provided as language elements of the motion control flowchart. 
   
   
     33. The device according to  claim 19 , wherein the textual language comprises IEC6-1131 textual language. 
   
   
     34. The device according to  claim 33 , wherein a user may switch between structured textual language, contact plan and function plan as forms of representation in formulating conditions. 
   
   
     35. The device for programming according to  claim 19 , wherein the industrial control system comprises a motion controller. 
   
   
     36. A method for programming an industrial controller, the method comprising the steps of:
 a) creating a flowchart, including a plurality of commands with the use of a graphical editor;  
 b) generating a textual language based on the flowchart;  
 c) converting such textual language into a processor-independent pseudo-code;  
 d) loading the processor-independent pseudo-code into the controller; and  
 e) converting the processor-independent pseudo-code into an executable processor code, whereby such commands may be executed, wherein 
 the flowchart notation comprises at least one of the group consisting of loop and parallel branch language elements, and wherein  
 the controller executes interpolation cycles and individual commands are initiated in a given interpolator cycle within a respective parallel branch.  
 
 
   
   
     37. A device for programming an industrial control system, wherein control structures and function blocks are linkable by a user by via a graphical editor to form a motion control flowchart that can be visualized on a display device, the device comprising:
 a) means for generating a textual language from the flowchart;  
 b) means for compiling the textual language in a processor-independent pseudo-code;  
 c) means for loading the processor-independent pseudo-code into the controller; and  
 d) means for converting the processor-independent pseudo-code into executable processor code, wherein 
 programming language commands are provided in the editor as a function of the configuration of at least an aspect of the control system, wherein  
 graphical elements comprising function interfaces of respective subprograms are generated in motion control flowchart notation based on user-defined subprograms in textual language, wherein  
 the graphical elements in motion control flowchart notation comprise at least one of the group consisting of a loop and a parallel branch, and wherein  
 the controller executes interpolation cycles and individual commands are initiated in a given interpolator cycle within the respective parallel branch.  
 
 
   
   
     38. A device for programming an industrial control system, comprising:
 a) a mechanism for generating a textual language from the flowchart;  
 b) a mechanism for compiling the textual language in a processor-independent pseudo-code;  
 c) a mechanism for loading the processor-independent pseudo-code into the controller; and  
 d) a mechanism for converting the processor-independent pseudo-code into executable processor code, wherein 
 the language commands in flowchart notation comprise at least one of the group consisting of a loop and a parallel branch, and wherein  
 the controller executes interpolation cycles and individual commands are initiated in a given interpolator cycle within the respective parallel branch.